By Topic

Modeling of part-mating strategies for automating assembly operations for robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Chi-Haur Wu ; Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA ; Myong Gi Kim

From the concept of designing for automation, a system modeled from simple part-mating is proposed for helping automate the fine motion control phase of assembly operations. The proposed system consists of three subsystems. The first subsystem is a part-mating model categorized from different mating geometric constraints of simple parts. The second subsystem is a coding system, named structured assembly coding system (SACS), that codes different part-mating tasks with different levels of geometrical constraints. From this coding system, specific part-mating types can be identified for different tasks of assembly operations. Conversely, constraint configuration for each part-mating task can also be generated from the proposed part-mating model. After constraint configurations are identified for an assembly operation, the third subsystem is to automate an assembly operation by deducing the compliance control strategies. The proposed system is demonstrated through a case study of pump assembly

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:24 ,  Issue: 7 )